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Consensus Problem Of Multi-agent Systems With Communication Delay And Input Delay

Posted on:2015-12-06Degree:MasterType:Thesis
Country:ChinaCandidate:P P DaiFull Text:PDF
GTID:2298330431985347Subject:Control theory and control engineering
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Multi-agent systems as a complex dynamic system is widely used in practical application,including multi-robot systems, intelligent transportation, UAV cooperative control andformation control and communications networks, etc. Consensus problem, which is one of themost fundamental and important issues in coordination control of multi-agent systems, hasattracted more and more attention from various researchers. Consensus of multi-agent systemsmeans that each agent can reach a stationary or common value without global communicationunder consensus algorithms. Generally speaking, input delay and communication delays cannotbe negligible in the distributed coordination of multi-agent systems. It is more important to study theconsensus with time delay. This paper studies the consensus problem of multi-agent system withinput delay and communication delays, including:1) Asynchronously-coupled algorithm is used to investigate the consensus problem ofsecond-order multi-agent systems with input delay and communication delays under fixedtopology. Coupling with Lyapunov-Krasovskii function and linear matrix inequalities, somesufficient conditions are obtained for second-order systems under time-invariant andtime-varying communication delays.2) Consensus problem is investigated for heterogeneous multi-agent systems composedof first-order and second-order agents. Leader-following consensus protocol is adopted tosolve consensus problem of heterogeneous multi-agent systems with time-varyingcommunication and input delays. By constructing Lyapunov functional, it is proved that thepositions of each agent can coverage to the leader under fixed interconnection topology.Moreover, consensus conditions are also obtained for the heterogeneous systems underswitching topologies with time delays.3) A full-order observer-based algorithm and a reduced-order observed-based algorithmare adopted to analyze the consensus problem of second-order multi-agent systems with timedelay, respectively. In this paper, the velocities are not known for second-order multi-agentsystems. By using variable substitution and Lyapunov stability principle, sufficient consensusconditions are obtained for second-order multi-agent systems with constant communicationdelay and input delay under fixed topology.
Keywords/Search Tags:Consensus, Input Delay, Communication Delay, Heterogeneous Multi-AgentSystems, Observer
PDF Full Text Request
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